Automated waste cleaning devices, systems and methods

ABSTRACT

A system for collecting waste from an area includes a robotic device including a housing, a control system within the housing, which includes a processor system and a memory system in operative connection with the processor system, a power system in operative connection with the control system, a sensor system in operative connection with the control system, one or more drive wheels (each of the drive wheels being in operative connection with a motor which is in operative connection with the power system and with the control system), a waste retrieval system in operative connection with the power system and with the control system, and a receptacle compartment within the housing. The control system includes one or more location/identification algorithms stored in the memory system and executable by the processor system to locate an object of animal waste in the area based upon data received from the sensor system. The control system further includes one or more positioning algorithms stored in memory and executable by the processor system to position the robotic device relative to the object of animal waste to enable collection of the object of animal waste via the waste retrieval system. Additionally, the control system includes one or more retrieval algorithms to actuate the waste retrieval system and control the waste retrieval system to bring the object of animal waste into the receptacle compartment.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims benefit of U.S. Provisional Patent Application Ser. No. 63/102,340, filed Jun. 10, 2020, the disclosure of which is incorporated herein by reference.

BACKGROUND

The following information is provided to assist the reader in understanding technologies disclosed below and the environment in which such technologies may typically be used. The terms used herein are not intended to be limited to any particular narrow interpretation unless clearly stated otherwise in this document. References set forth herein may facilitate understanding of the technologies or the background thereof. The disclosure of all references cited herein are incorporated by reference.

Picking up animal biological waste and other waste from surfaces of yards, parks, kennels, arenas, etc. is a necessary but unpleasant task. Pet owner often, for example, carry disposable hand coverings to manually clean up and dispose of animal waste.

It is very desirable to develop improved devices, systems, and methods for pickup up and disposing of waste such as pet waste.

SUMMARY

In one aspect, a system for collecting waste from an area includes a robotic device including a housing, a control system within the housing, which includes a processor system and a memory system in operative connection with the processor system, a power system in operative connection with the control system, a sensor system in operative connection with the control system, one or more drive wheels (each of the drive wheels being in operative connection with a motor which is in operative connection with the power system and with the control system), a waste retrieval system in operative connection with the power system and with the control system, and a receptacle compartment within the housing. The control system includes one or more location/identification algorithms stored in the memory system and executable by the processor system to locate an object of animal waste in the area based upon data received from the sensor system. The control system further includes one or more positioning algorithms stored in memory and executable by the processor system to position the robotic device relative to the object of animal waste to enable collection of the object of animal waste via the waste retrieval system. Additionally, the control system includes one or more retrieval algorithms to actuate the waste retrieval system and control the waste retrieval system to bring the object of animal waste into the receptacle compartment.

In a number of embodiments, the control system includes one or more routing algorithms saved in the memory system and executable by the processor system to control motion of the robotic device over a defined area. The sensor system may, for example, include at least one of a proximity sensor, a thermal sensor, a position sensor, or an infrared sensor to provide data to the control system. In a number of embodiments, the sensor system further comprises a camera. The system may further include a source of UV light.

In a number of embodiments, the one or more location algorithms of the control system include one or more object recognition algorithms stored in the memory system and executable by the processor system to recognize an object as an object of animal waste.

In a number of embodiments, the waste retrieval system includes at least one of an inclined ramp and a moveable retrieval arm including an abutment member on a distal end thereof which is controllable by the control system to draw the object of waste onto the inclined ramp. In a number of embodiment, the waste retrieval system include a vacuum system configured to create a pressure differential upon activation by the control system. The waste retrieval system may include an inclined ramp and a moveable retrieval arm including an abutment member on a distal end thereof and a vacuum mechanism configured to create a pressure differential upon activation by the control system. The vacuum system may, for example, be in fluid connection with the inclined ramp and the receptacle compartment via a conduit such that the object of waste, after being drawn onto the inclined ramp, is drawn into the receptacle compartment via the conduit by the pressure differential created by the vacuum system.

In a number of embodiment, the robotic device of the system further includes a source of a flexible enclosing material to enclose object of waste before it enters the receptacle compartment. The robotic device of the system may, for example, further include a closing mechanism configured to seal the object of waste within a length of the flexible enclosing material. In a number of embodiments, the closing mechanism comprises a shutter-leaf mechanism.

In a number of embodiments, the robotic device comprises a first drive wheel in operative connection with a first motor, which is in operative connection with the control system, and a second drive wheel in operative connection with a second motor, which is in operative connection with the control system, the control system being configured to independently control the first motor and the second motor to effect differential steering.

The power system may, for example, include a rechargeable battery and the system may further include a docking station configured to recharge the rechargeable battery.

In a number of embodiment, the robotic device further includes a communication system in operative connection with the control system. The communication system may, for example, be adapted or configured to communicate with a personal communication device of a user of the system.

In a number of embodiment, the robotic device further includes a spray system in operative connection with a source of fluid including at least one of a disinfectant, a neutralizer, or a deodorant. The spray system includes one or more spray nozzles to spray the fluid onto an area in which an object of waste has been determined to be present.

In a number of embodiments, the sensor system further comprises one or more chemical sensors to sense one or more chemical analytes associated with the presence of an object of animal waste.

In another aspect, a method for collecting waste from an area, includes providing a robotic device including a housing, a control system within the housing, the control system including a processor system and a memory system in operative connection with the processor system, a power system in operative connection with the control system, a sensor system in operative connection with the control system, one or more drive wheels, each of the drive wheels being in operative connection with a motor which is in operative connection with the power system and with the control system, a waste retrieval system in operative connection with the power system and with the control system, and a receptacle compartment within the housing, executing one or more location algorithms stored in the memory system and executable by the processor system to locate an object of animal waste in the area based upon data received from the sensor system, executing one or more positioning algorithms stored in the memory system and executable by the processor system to position the robotic device relative to the object of animal waste to enable collection of the object of animal waste via the waste retrieval system, and executing one or more retrieval algorithms to actuate the waste retrieval system and control the waste retrieval system to bring the object of animal waste into the receptacle compartment. The robotic device may be further characterized as described above and elsewhere herein.

In a number of embodiments, the waste retrieval system includes at least one of an inclined ramp and a moveable retrieval arm comprising an abutment member on a distal end thereof which is controllable by the control system to draw the object of waste onto the inclined ramp. The waste retrieval system may, for example, include an inclined ramp and a moveable retrieval arm including an abutment member on a distal end thereof and a vacuum mechanism configured to create a pressure differential upon activation by the control system. The vacuum system may, for example, be in fluid connection with the inclined ramp and the receptacle compartment via a conduit such that the object of waste, after being drawn onto the inclined ramp, is drawn into the receptacle compartment via the conduit by the pressure differential created by the vacuum system.

The present devices, systems, and methods, along with the attributes and attendant advantages thereof, will best be appreciated and understood in view of the following detailed description taken in conjunction with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a perspective view of an embodiment of a system hereof including an embodiment of a robotic device and a remote monitoring and/or control system (for example, a personal communication device).

FIG. 2 illustrates schematically a side view of the robotic device of the system of FIG. 1 and the control system therefor, wherein the housing, wheels/caster wheels and waste-retrieval systems of the robotic device are illustrated in broken lines.

FIG. 3A illustrates a top view of another embodiment of a robotic device of a system hereof.

FIG. 3B illustrates an isometric view of the robotic device of FIG. 3A.

FIG. 3C illustrates a first side view of the robotic device of FIG. 3A.

FIG. 3D illustrates a second side view of the robotic device of FIG. 3A.

FIG. 3E illustrates a front view of the robotic device of FIG. 3A.

FIG. 3F illustrates a cross-sectional view of the robotic device of FIG. 3A along section A-A of FIG. 3E.

FIG. 3G illustrates a cross-sectional view of the robotic device of FIG. 3A along section B-B of FIG. 3E.

FIG. 3H illustrates an isometric, cutaway view of the robotic device of FIG. 3A.

FIG. 4A illustrates a perspective view of a shutter leaf mechanism of the device of FIG. 3A wherein the shutter leaf mechanism is in a nearly closed position.

FIG. 4B illustrates a perspective view of a shutter leaf mechanism of the device of FIG. 3A wherein the shutter leaf mechanism is in a substantially open position.

DETAILED DESCRIPTION

It will be readily understood that the components of the embodiments, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations in addition to the described representative embodiments. Thus, the following more detailed description of the representative embodiments, as illustrated in the figures, is not intended to limit the scope of the embodiments, as claimed, but is merely illustrative of representative embodiments.

Reference throughout this specification to “one embodiment” or “an embodiment” (or the like) means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearance of the phrases “in one embodiment” or “in an embodiment” or the like in various places throughout this specification are not necessarily all referring to the same embodiment.

Furthermore, described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments. One skilled in the relevant art will recognize, however, that the various embodiments can be practiced without one or more of the specific details, or with other methods, components, materials, et cetera. In other instances, well known structures, materials, or operations are not shown or described in detail to avoid obfuscation.

As used herein and in the appended claims, the singular forms “a,” “an”, and “the” include plural references unless the context clearly dictates otherwise. Thus, for example, reference to “a sensor” includes a plurality of such sensors and equivalents thereof known to those skilled in the art, and so forth, and reference to “the sensor” is a reference to one or more such sensors and equivalents thereof known to those skilled in the art, and so forth. Recitation of ranges of values herein are merely intended to serve as a shorthand method of referring individually to each separate value falling within the range. Unless otherwise indicated herein, and each separate value, as well as intermediate ranges, are incorporated into the specification as if individually recited herein. All methods described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contraindicated by the text.

The terms “electronic circuitry”, “circuitry” or “circuit,” as used herein include, but are not limited to, hardware, firmware, software, or combinations of each to perform a function(s) or an action(s). For example, based on a desired feature or need, a circuit may include a software-controlled microprocessor, discrete logic such as an application specific integrated circuit (ASIC), or other programmed logic device. A circuit may also be fully embodied as software. As used herein, “circuit” is considered synonymous with “logic.” The term “logic”, as used herein includes, but is not limited to, hardware, firmware, software, or combinations of each to perform a function(s) or an action(s), or to cause a function or action from another component. For example, based on a desired application or need, logic may include a software controlled microprocessor, discrete logic such as an application specific integrated circuit (ASIC), or other programmed logic device. Logic may also be fully embodied as software.

The term “processor,” as used herein includes, but is not limited to, one or more of virtually any number of processor systems or stand-alone processors, such as microprocessors, microcontrollers, central processing units (CPUs), and digital signal processors (DSPs), in any combination. The processor may be associated with various other circuits that support operation of the processor, such as random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read only memory (EPROM), clocks, decoders, memory controllers, or interrupt controllers, etc. These support circuits may be internal or external to the processor or its associated electronic packaging. The support circuits are in operative communication with the processor. The support circuits are not necessarily shown separate from the processor in block diagrams or other drawings.

The term “controller,” as used herein includes, but is not limited to, any circuit or device that coordinates and controls the operation of one or more input and/or output devices. A controller may, for example, include a device having one or more processors, microprocessors, or central processing units capable of being programmed to perform functions.

The term “software,” as used herein includes, but is not limited to, one or more computer readable or executable instructions that cause a computer or other electronic device to perform functions, actions, or behave in a desired manner. The instructions may be embodied in various forms such as routines, algorithms, modules, or programs including separate applications or code from dynamically linked libraries. Software may also be implemented in various forms such as a stand-alone program, a function call, a servlet, an applet, instructions stored in a memory, part of an operating system or other type of executable instructions. It will be appreciated by one of ordinary skill in the art that the form of software is dependent on, for example, requirements of a desired application, the environment it runs on, or the desires of a designer/programmer or the like.

FIGS. 1 and 2 illustrate an embodiment of an automated system 10 that may, for example, be used to identify and pick up waste such as animal biological waste 5 from a surface (for example, a grassed surface such as a yard or a park, a sidewalk, a driveway, etc.). The shape and size of the device can be varied to suit a particular use. System 10 includes a robotic device 100 which includes a body or housing 110 in which a receptacle compartment 112 is positioned or formed to receive collected waste (see FIG. 2). Device 100 may further include a removable top or lid 120 which may be removed to expose an opening 124 (see FIG. 2) formed in housing 110 via which waste may be removed from receptacle compartment 112. Handles 114 (one of which is shown in FIG. 1) on, for example, each side of device 100 may be provided to facilitate handling/carrying of device 100. Robotic device 100 may be fully autonomous and/or human intervention or interaction may be used to control at least some aspects of the function of robotic device 100.

Device 100 includes a retrieval or collection system 130 which, in the illustrated embodiment, includes a ramp 132 and a retrieval arm or device which may include an abutment member such as a blade member or a rake member 134 on a distal end thereof. In the illustrated embodiment, the retrieval arm and attached abutment member 134 is extendible and retractable to pull waste 5 (abutted by abutment member 134) up inclined ramp 132 and toward or into housing 110/receptacle compartment 112. As clear to one skilled in the art, other retrieval mechanisms for bringing objects/waste into receptacle housing 110 and receptacle compartment 112 are possible. Retrieval system 130 may also include a vacuum system, apparatus, or mechanism 136 as, for example, illustrated in FIG. 2. Robotic device 100 and receptacle compartment 112 may be made available in different sizes for a specific uses (for example, for use in connection with small, medium, and large dog breeds). Robotic device 100 may, for example, be formed primarily of polymeric materials.

In the illustrated embodiment of FIGS. 1 and 2, robotic device 100 is equipped with three wheels, including two front, drive wheels 140 a and a rear wheel/caster 140 b (see FIG. 2). As clear to one skilled in the art, the number of wheels/casters can vary to provide balance and mobility over a variety of terrains. Moreover, other types of mobility devices or systems such as tracks may be used to provide mobility for robotic device 100. In the illustrated embodiment, wheels 140 a and 140 b are connected to housing 110 via extending members or struts 142 a and 142 b, respectively.

To achieve controlled motion of robotic device 100, each of front drive wheels 140 a may be driven and/or controlled separately or independently to achieve differential steering in a number of embodiments. For example, each of drive wheels 140 a can be in operative connection with an independently controlled motor 150 (see FIG. 2). Motor 150 may, for example, be positioned within the hub of drive wheels 140 a or be placed in operative connection with an axle therefor (either directly or via gears, belts etc.). Differential wheeled robots are well known, simple to program/control, and relatively inexpensive. By using two separately/independently driven wheels placed on either side of the robot body/housing 110, robotic device 100 can change its direction of motion through varying the relative rate of rotation of drive wheels 140 a. Additional steering mechanisms and/or controls are not required. Additional wheels or casters such as rear wheel 140 b may be included to provide balance and stability. As known in the differential steering arts, if both the wheels are driven in the same direction and speed, robot device 100 will travel in a straight line. If both wheels are turned with equal speed in opposite directions, robotic device 100 will rotate about its central point or axis. By varying the speed and direction of rotation of drive wheels 140 a, the center of rotation may be varied to be located anywhere along the line defined by the contact points of drive wheels 140 a. Because the speed and direction of robotic device 100 is dependent on the rate of and the direction of rotation of drive wheels 140 a, those variables may be measured/sensed and controlled. Other drive systems, such as a differential gear system may alternatively be used. However, a differentially steered system, in which both of drive wheels 140 a are independently powered, provides simplicity, ease of programming/control, and low cost as described above.

FIG. 2 illustrates schematically an embodiment of a control system 200 for use in connection with robotic device 100. As known in the art and as illustrates schematically in FIG. 2, control system 200, may include a processor system 210 (including one or more processors such as microprocessors), a memory system 220, an input/output system as known in the computer arts (not shown), and a communication system 230 (which may, for example, include wireless cellular telephone connectivity (providing telephone and internet connectivity), radio-band or Wi-Fi internet connectivity, BLUETOOTH wireless connectivity, infrared wireless connectivity, etc.). Robotic device 100 also includes a power system 240 (including, for example, one or more rechargeable batteries) to power controls system 200 and various peripheral components or devices. A user interface/graphical user interface 234 (for example, including a visual interface (for example, a display such as a touchscreen display), an audio interface, and/or a tactile interface) may be included to exchange information/data with a user. A number of the components of control system 200 may, for example, be positioned upon or in operative connection with a printed circuit board/motherboard or PCB 205 as known in the electrical and computer arts.

Control system 200 may, for example, be placed in operative connection with motors 150 via one or more variable speed drives 250 to independently control the rate and direction of rotation of motors 150/drive wheels 140 a as described above. Control software for control of motion of robotic device 100 via motors 150 may, for example, be stored in memory system 200 and be executable by processor system 210.

A sensor system 260, which is illustrated schematically in FIG. 2 and which includes various sensors, may be provided in operative connection with control system 200. Sensor system 260 may, for example, include various positional sensors such a GPS (Global Positioning System) sensor/system, or counters for measuring wheel movements, and other sensors such as a photocell, accelerometers, image sensors (for example, camera 270), proximity sensors, infrared sensors, chemical sensors, etc. Artificial intelligence/machine learning algorithms and/or other algorithms, which may, for example, be the same as or similar to those algorithms used in autonomous lawnmower robots and autonomous pool cleaning robots may be used to control motion of robotic device over a defined area such as a yard or park. See, for example, U.S. Pat. Nos. 9,420,741, 6,883,201 9,698,003, 9,773,658, and 10,004,822, Batra, S. and Yildirir, E., Autonomous Robotic Lawnmower Implemented with Computer Vision Functionality, DOI:10.13140/RG.2.2.10078.89922 (2018), Liao, J. et al., Designing and Manufacturing of Automatic Robotic Lawn Mower, Process, 9:358 (2021). Positional reference markers and/or beacons may also be used as known in the art to assist in controlling the defined area of coverage of robotic devices hereof.

The motion of robotic device 100 may, for example, be controlled to cover a defined area as described above. Object location sensors such as an imaging sensor/camera 270 or a proximity sensor (for example, a sound/sonar sensor/system, a radar sensor/system, a lidar sensor/system, etc.) may be used to determine that robotic device 100 has encountered an object as robotic device travels over the defined area. Infrared energy sensors may, for example, be used to reflect off an object to be collected and may be used in low- or no-light conditions. Sensor system 260 also include sensors for determining if a located object in an area include animal waste such as animal fecal matter and/or urine matter. For example, chemical sensors such electrochemical sensors and/or other types of sensors can be used to sense the presence of (for example, a threshold concentration of) a chemical species (for example, one or more volatile organic (VOC) and/or other compounds) associated with animal waste (for example, methane, urea, ammonia, etc.). Artificial intelligence software such as object recognition software as known in the artificial intelligence arts may be used to assist in identifying waste (for example, in connection with imaging data from camera 270). Likewise, thermal imaging may be used in assisting to identify relatively fresh animal waste. A source of UV light 280 may, for example, be provided to assist in detecting urine. In that regard, UV light may be applied to the surface upon which robotic device 100 is operating and an imaging system such as camera 270 may be used to detect if there is urine in an area. Likewise, an ammonia sensor may be used to locate urine. Although urine need not be brought into receptacle compartment 112, if urine is detected, a disinfecting and/or inactivating spray from a spray reservoir/source 290 may be applied to the area in which the urine is detected.

Control system 200 may be placed in operative connection with a drive mechanism 135 for retrieval arm/abutment member 134. Drive mechanism 135 may, for example, include one or more electric motors and/or linear actuators as known in the art to control linear and/or rotational motion of retrieval arm/abutment member 134 to bring waste into receptacle compartment 112. Likewise, control system 200 may be placed in operative connection with vacuum 136 to control operation thereof to bring waste into receptacle compartment 112. A portion of receptacle compartment 112 may, for example, be suitably sealed to enable generation of a suitable pressure differential to draw waste into receptacle compartment 112 by vacuum apparatus 136 via a passage 138 in fluid connection with vacuum 136.

During operation, robotic device 100 travels over an area and determines the presence of waste as described above. In the case of use in connection with animal fecal/urine waste, device 100 will approach and detect the urination or defecation, assume an appropriate position relative to the animal waste, and then proceed to use equipped retrieval or collection tools to gather the waste into internal receptacle compartment 112 in the case of detected fecal matter or apply a spray composition in the case of detected urine. The tools used to collect fecal matter may, for example, depend on if the fecal matter is a relatively firm solid or a relatively soft composition. Such a determination may, for example, be made via a software-based decision structure based on sensor data. If detected fecal is a relatively firm solid, shovel/ramp 132 and retrieval or collection arm/member and attached abutment member 134 may be used to draw the fecal matter into receptacle compartment 112. If the fecal is determined to be relatively soft, vacuum apparatus 136 may be used to draw the fecal matter into receptacle compartment 112. Alternatively, device 100 can utilize all waste retrieval tools in every situation (as discussed below in connection with device 100 a of FIGS. 3A through 3H below). In that regard, vacuum apparatus 136 may be integrated functionally with ramp 132 and may be turned on once a waste object is approached or appropriately positioned on ramp 132. Vacuum may be applied along with a raking collection action to draw the waste object up ramp 132 an into receptacle compartment 112. A disinfecting spray may be dispersed via spray system 290 over collection tools 132, 134 and 136 and/or in the area from which the waste is removed (or over an area in which urine is determined to be present).

As described above, collected waste material is drawn into receptacle compartment 112 which may be lined with or provided with, for example, a flexible liner such a plastic bag/liner 114. Detected waste may, for example, be drawn into a sealable containment bag/liner 114 (for example, a heat sealable containment bag) which may subsequently be removed/ejected from receptacle compartment 112 into a waste storage container. Closing or sealing of the containment bag may occur automatically or under manual control.

Device 100 thus includes one or more sensors (for example, chemical sensors, proximity sensors, GPS navigational system, photocell sensors, visual light sensors, UV light sensors, and infrared sensors) to find and/or characterize waste. Once the waste is detected, vacuum apparatus 136 and/or rake/scoop tool 134 will guide the waste up into receptacle compartment 112. In a number of embodiments, an electronic mechanism (for example, one or more strain or force sensors or one or more volume sensors) may be provided in operative connection with receptacle compartment 112 to sense the weight (or volume) of the collected waste. Upon reaching a threshold measurement of, for example, weight, a closing mechanism 116 (illustrated schematically in FIG. 2) may be activated to collapse or gather bag/liner 114 (see FIG. 2) around the waste. A sealing action may be applied by, for example, a heat-sealing press (which may be integrated with closing mechanism 116) to seal bag/liner 114. Once bag/liner 114 is sealed, an ejection mechanism 118 (illustrated schematically in FIG. 2) may then be activated to eject/remove sealed bag/liner 114 from receptacle compartment 112. Ejection mechanism 118 my, for example, apply a swiping or pushing action, a lever action etc. to eject bag/liner 114 under software control via control system 200. The ejection process may be carried out such that sealed bag/liner falls into a storage receptacle until software of robotic device 100 determines that the storage receptacle is full.

Additionally or alternatively, when receptacle compartment 112 is determined to be filled (as determined by, for example, by measuring of a threshold value via a weight sensor or a volume sensor of sensor system 280) a notification may be transmitted as an alert. Robotic device 100 may also be programmed to return to a docking/charging station 400 (see FIG. 2) to be emptied. Receptacle compartment 112 may be emptied upon removal of upper portion or lid 120 of housing 110. Emptying may be accomplished manually or via a dump feature of robotic device 100 as described above.

A battery low state may be sensed via a battery monitor 242, which will also cause return of robotic device 100 to docking station 400 for charging. A docking interface 244 may be provided to effect wired/contacting and/or wireless transmission of power and/or data.

Information (for example, audio, text, and/or visual (image/video) information may, for example, be sent/received via communication system 230 which may be in operative connection with processor 210 and with an antenna system 300. A software application or app may be stored on a personal communication device or computer 500, which includes a user interface 510 (including, for example, a display which may be a touchscreen display) to receive information/data from and/or to transmit information/data to control system 200 of robotic device 100. Such an application or app may, for example, provide basic commands to be performed such as retrieve, dock, dump, spray, etc.

As used herein, the term “personal communications device” refers to a portable or mobile device which includes a communication system, a processor system, a user interface system (for example, a visual feedback system including a touchscreen or other display, an auditory feedback system, and a tactile feedback system, a user input system etc.) and an operating system capable of running general-purpose applications. Examples of personal communications devices include, but are not limited to, smartphones, tablet computer and custom devices. As used herein, the term “tablet computer” or tablet, refers to a mobile computer with a communication system, a processor system, at least one user interface as described above (typically including a touchscreen display), and an operating system capable of running general-purpose applications in a single unit. As used herein, the term “smartphone” refers to a cellular telephone including a processor system, at least one user interface as described above (typically including a touchscreen display), and an operating system capable of running general-purpose applications. Such personal communication devices are typically powered by rechargeable batteries and are housed as a single, mobile unit. Moreover, in a number of embodiments personal communications devices are able accept input directly into a touchscreen (as opposed to requiring a keyboard and/or a mouse). Personal communications devices as typically provide for internet access through cellular networks and/or wireless internet access points connected to routers. A number of representative embodiments of systems and/or methods hereof are discussed in connection with the user of a smartphone as the personal communication device.

FIG. 3A through 3H illustrates another embodiment of a robotic device 100 a hereof. In a number of aspects, device 100 a is formed and functions similarly to device 100, and elements of robotic device 100 a are numbered similarly to corresponding elements of robotic device 100 with the addition of the designation “a” to the reference number. Not all such elements of robotic device 100 a are described specifically herein but the discussion above in connection with the corresponding elements of robotic device 100 is applicable thereto. Similar to robotic device 100, robotic device 100 a includes a control system 200 a (see FIG. 3G) which may include a printed circuit board/motherboard (not shown) that hosts various circuitry elements to control the functions of robotic device 100 a. As described above, such circuitry elements may include a processor systems/CPUs, a memory system, a communications system, an input/output system, and a power system including, for example, a rechargeable battery 241 a (see FIG. 3F). The printed circuity motherboard may, for example, include or be a RASPBERRY PI® system, which is a microprocessor-based board available from Raspberry Pi Foundation of Cambridge, UK, which operates as a computer or single board computer (SBC). The SBC may, for example, include all the features of a computer device such as a processor system, a memory system, storage, a graphics driver, peripherals connectors, etc. The RASPBERRY PI SBC comes with an operating system or OS that is a DEBIAN® (Software in the Public Interest, New York, N.Y.) based LINUX® (Linus Trovalds of Boston, Mass.) operating system. As known to those skilled in the computer arts, the SBC may, for example, be programmed with the PYTHON™ programming language (Python Software Foundation, Fredericksburg, Va.) to control the functions of the robotic device 100 as described above, such as (but not limited to) the functions of the sensor system, spray system, variable speed drives, motors 150 a (see FIG. 3G), camera 270 a, display 235 a, retrieval/collection system 130 a, a communication system, etc. The communication system (which may be wired and/or wireless as known in the computer arts) may, for example, be used to program the SBC and to transmit information via, for example, a personal communication device as described above.

In the embodiment of robotic device 100 a, two rear drive wheels 140 aa are provided, which are powered/controlled by motors 150 a, and two front castor wheels 140 ab are provided in operative connection with housing 110 a. Differential steering of device 100 a may be achieved as described above. A removable lid 120 a is provided at an upper end of housing 110 a in the illustrated embodiment. A front section of housing 110 a includes display 235 a, camera 270 a, and indicator lights 237 a (which may, for example, provide status information including, for example, operability, battery level, etc.). The front section of housing 110 a may further include a spray system 290 a including a nozzle as described above in connection with robotic device 100.

As described in connection with robotic device 100, retrieval/collection system 130 a of robotic device 100 a includes a ramp 132 a and a retrieval arm attached to an abutment member 134 a. The retrieval arm is extendible and retractable to pull waste 5 up inclined ramp 132 a via abutment member 134. Abutment member 134 a may, for example, form at least a partial seal with ramp 132 a when retracted or pulled rearward to facilitate operation of vacuum apparatus, mechanism or system 136 a (which may include a rotating vacuum fan 137 a or similar vacuum creating device as known in the pumping and vacuum arts) as illustrated in FIG. 3F. With reference to FIG. 3F, as waste is drawn up or onto ramp 132 a via retrieval arm and attached abutment member 134 a, vacuum mechanism 136 a may be activated to draw the waste through a conduit 138 a and into receptacle compartment 112 a.

Retrieval/collection system 130 a may thus include a number of mechanical and/or electromechanical functionalities that may be controlled/timed via a software trigger command(s) which is/are prompted by the sensor system as described above in connection with device 100. A drive mechanism controls the retractable movements retrieval arm and attached abutment member 134 a via a plow-type or scoop action in connection with ramp 132 a that gathers the waste and pulls it up toward low pressure/suction created by vacuum mechanism 136 a in conduit 138 a. Retrieval/collection system 130 a is, for example, activated after the sensor system detects that there is waste present to be gathered/collected and device 100 a is appropriately positioned relative to the detected waste. As described in connection with robotic device 100, robotic device 100 a may include disinfecting spray nozzles (similar in operation to a front/external nozzle 290 a) that spray ramp 132 a and retractable arm/abutment member 134 a after the waste has been gathered. Similarly, vacuum mechanism 136 a and receptacle compartment 112 a may be sprayed. Spray nozzle 290 a may be used to spray the area from which the waste was gathered. Spray nozzle 290 a can also programmed to spray without collection if urine is detected.

In a number of embodiments, vacuum system or mechanism 136 a includes motorized vacuum fan/pump 137 a that creates a pressure differential within conduit 138 a to draw waste upward into device 100 a and into a bagging or enclosing system which includes, for example, a source of a bagging/enclosing material and a closing or sealing system/mechanism. In a number of embodiments, the closing/sealing system includes a leaf shutter-type mechanism or apparatus 160 a (similar to those used in camera shutters) and the source of a bagging/enclosing material includes a supply roll 170 a including a flexible enclosing material thereon. With reference to FIG. 3F, once waste is pulled up into conduit 138 a, there is an opening 139 near the top of conduit 138 a through which waste falls into a stretched length enclosing material (for example, a flexible polymer film as known in the polymeric bag/storage arts) that is automatically fed from supply roll 170 a over leaf shutter apparatus 160 a (see FIGS. 4A and 4B) via/through two rollers 172 a (for example, via a controlling motor 173 a in operative connection with control system 200 a). As illustrated, for example, in FIG. 3H, an enclosing material 171 a is fed from roll 170 a stationed at one end of leaf shutter apparatus 160 a, pulled taught over the shutter via a first set of rollers 172 a which are movable in a forward and rearward direction via slots 175 a via a controlling motor 174 a (in operative connection with control system 200 a) illustrated schematically in dashed lined in FIG. 3H. Enclosing material 171 a is clamped between rollers 172 a′ when such rollers are in a rearward position (adjacent rollers 172 a). Rollers 172 a′ are then moved forward to draw enclosing material 171 a over the opening of closing mechanism, system or apparatus 160 a. Enclosing material 171 a may, for example, be perforated at predetermined intervals of length to facilitate disconnection of a section from the remainder of the material. The shutter leaves 162 a start from an open overlapping leaf/blade formation (see FIG. 4B) that, as the shutter spins, will close with all leaves or blades 162 a forming a star-like or asterisk-like opening 164 a in the center as illustrated in FIGS. 3G and 4A. In a number of embodiments, leaf shutter apparatus 160 a will spin in a rotational movement (for example, via a control motor in operative connection with control system 200 a, which may be incorporated into leaf shutter apparatus 160 a) once the weight of the waste is sensed on the bag/enclosing material (for example, via a strain gauge or force sensor of the sensor system in operative connection with rollers 172 a and/or rollers 172 a′), collapsing the bag around the solid waste and any fluid waste that was drawn into device 100 a along with the solid waste. In a number of embodiments, leaf shutter apparatus 160 a twists the bag, forming a U-shaped enclosure or inverted dome or tear-drop shaped enclosure, that may then be cinched/closed with heating coil elements 166 a (see FIG. 4A) at the end of each shutter leaf or blade 162 a (heated, for example, via joule or resistive heating as known in the art) that heat seal the waste within the bag. After sealing, the mechanism may drop the sealed waste into receptacle compartment 112 a. Further operation of device 100 is similar to that described for device 100 a.

As illustrated, for example, in FIG. 3H, robotic device 100 a may, for example, include an opening 119 a in a side of housing 110 a via which receptacle compartment (which may be formed similarly to a bucket) may be removed from robotic device 100 a. An upper portion or rim of receptacle compartment 112 a may for example, be slidable along tracks in operative connection with opening 119 a to facilitate positioning of receptacle compartment 112.

The foregoing description and accompanying drawings set forth a number of representative embodiments at the present time. Various modifications, additions and alternative designs will, of course, become apparent to those skilled in the art in light of the foregoing teachings without departing from the scope hereof, which is indicated by the following claims rather than by the foregoing description. All changes and variations that fall within the meaning and range of equivalency of the claims are to be embraced within their scope. 

What is claimed is:
 1. A system for collecting waste from an area, comprising: a robotic device comprising: a housing, a control system within the housing, the control system comprising a processor system and a memory system in operative connection with the processor system, a power system in operative connection with the control system, a sensor system in operative connection with the control system, one or more drive wheels, each of the drive wheels being in operative connection with a motor which is in operative connection with the power system and with the control system, a waste retrieval system in operative connection with the power system and with the control system, and a receptacle compartment within the housing, the control system comprising one or more location algorithms stored in the memory system and executable by the processor system to locate an object of animal waste in the area based upon data received from the sensor system, the control system further comprising one or more positioning algorithms stored in memory and executable by the processor system to position the robotic device relative to the object of animal waste to enable collection of the object of animal waste via the waste retrieval system and one or more retrieval algorithms to actuate the waste retrieval system and control the waste retrieval system to bring the object of animal waste into the receptacle compartment.
 2. The system of claim 1 wherein the control system comprises one or more routing algorithms saved in the memory system and executable by the processor system to control motion of the robotic device over a defined area.
 3. The system of claim 2 wherein the sensor system comprises at least one of a proximity sensor, a thermal sensor, a position sensor, or an infrared sensor to provide data to the control system.
 4. The system of claim 3 wherein the sensor system further comprises a camera.
 5. The system of claim 4 wherein the one or more location algorithms of the control system comprises one or more object recognition algorithms stored in the memory system and executable by the processor system to recognize an object as an object of animal waste.
 6. The system of claim 5 further comprising a source of UV light.
 7. The system of claim 4 wherein the waste retrieval system comprises at least one of an inclined ramp and a moveable retrieval arm comprising an abutment member on a distal end thereof which is controllable by the control system to draw the object of waste onto the inclined ramp.
 8. The system of claim 4 wherein the waste retrieval system comprises a vacuum system configured to create a pressure differential upon activation by the control system.
 9. The system of claim 7 wherein the waste retrieval system further comprises a vacuum system configured to create a pressure differential upon activation by the control system, the vacuum system being in fluid connection with the inclined ramp and the receptacle compartment via a conduit such that the object of waste, after being drawn onto the inclined ramp, is drawn into the receptacle compartment via the conduit by the pressure differential created by the vacuum system.
 10. The system of claim 9 wherein the robotic device further comprises a source of a flexible enclosing material to enclose object of waste before it enters the receptacle compartment.
 11. The system of claim 10 wherein the robotic device further comprises a closing mechanism configured to seal the object of waste within a length of the flexible enclosing material.
 12. The system of claim 11 wherein the closing mechanism comprises a shutter-leaf mechanism.
 13. The system of claim 8 wherein the robotic device comprises a first drive wheel in operative connection with a first motor, which is in operative connection with the control system, and a second drive wheel in operative connection with a second motor, which is in operative connection with the control system, the control system being configured to independently control the first motor and the second motor to effect differential steering.
 14. The system of claim 8 wherein the power system comprises a rechargeable battery and the system further comprises a docking station configured to recharge the rechargeable battery.
 15. The system of claim 8 wherein the robotic device further comprises a communication system in operative connection with the control system, the communication system being adapted to communicate with a personal communication device of a user of the system.
 16. The system of claim 8 wherein the robotic device further includes a spray system in operative connection with a source of fluid comprising at least one of a disinfectant, a neutralizer, or a deodorant, the spray system comprising one or more spray nozzles to spray the fluid onto an area in which an object of waste has been determined to be present.
 17. The system of claim 8 wherein the sensor system further comprises one or more chemical sensor to sense one or more chemical analytes associated with the presence of an object of animal waste.
 18. A method for collecting waste from an area, comprising: providing a robotic device comprising a housing, a control system within the housing, the control system comprising a processor system and a memory system in operative connection with the processor system, a power system in operative connection with the control system, a sensor system in operative connection with the control system, one or more drive wheels, each of the drive wheels being in operative connection with a motor which is in operative connection with the power system and with the control system, a waste retrieval system in operative connection with the power system and with the control system, and a receptacle compartment within the housing, executing one or more location algorithms stored in the memory system and executable by the processor system to locate an object of animal waste in the area based upon data received from the sensor system, executing one or more positioning algorithms stored in the memory system and executable by the processor system to position the robotic device relative to the object of animal waste to enable collection of the object of animal waste via the waste retrieval system, and executing one or more retrieval algorithms to actuate the waste retrieval system and control the waste retrieval system to bring the object of animal waste into the receptacle compartment.
 19. The method of claim 19 wherein the waste retrieval system comprises at least one of an inclined ramp and a moveable retrieval arm comprising an abutment member on a distal end thereof which is controllable by the control system to draw the object of waste onto the inclined ramp.
 20. The method of claim 19 wherein the waste retrieval system further comprises a vacuum system configured to create a pressure differential upon activation by the control system, the vacuum system being in fluid connection with the inclined ramp and the receptacle compartment via a conduit such that the object of waste, after being drawn onto the inclined ramp, is drawn into the receptacle compartment via the conduit by the pressure differential created by the vacuum system. 